\hypertarget{controller_8c}{
\section{atmega1281/mid/controller/controller.c File Reference}
\label{controller_8c}\index{atmega1281/mid/controller/controller.c@{atmega1281/mid/controller/controller.c}}
}
{\ttfamily \#include \char`\"{}controller.h\char`\"{}}\par
{\ttfamily \#include \char`\"{}nxbot.h\char`\"{}}\par
{\ttfamily \#include $<$stdint.h$>$}\par
{\ttfamily \#include $<$stdlib.h$>$}\par
{\ttfamily \#include $<$string.h$>$}\par
{\ttfamily \#include $<$avr/io.h$>$}\par
{\ttfamily \#include \char`\"{}lcd.h\char`\"{}}\par
\subsection*{Functions}
\begin{DoxyCompactItemize}
\item 
void \hyperlink{controller_8c_a1422cacd9ab33bf11dddbc7f087af4c3}{PI\_\-init} (parametersPI $\ast$pi)
\item 
int \hyperlink{controller_8c_a429e7178a3042c89c17e39c542019be5}{PIController} (parametersPI $\ast$pi, velocities $\ast$vels)
\item 
INLINE\_\-FUN int16\_\-t \hyperlink{controller_8c_af7e9375c5fc7aff732bcf65cfd4e4a09}{bound} (int16\_\-t value, int16\_\-t min, int16\_\-t max)
\end{DoxyCompactItemize}


\subsection{Function Documentation}
\hypertarget{controller_8c_af7e9375c5fc7aff732bcf65cfd4e4a09}{
\index{controller.c@{controller.c}!bound@{bound}}
\index{bound@{bound}!controller.c@{controller.c}}
\subsubsection[{bound}]{\setlength{\rightskip}{0pt plus 5cm}INLINE\_\-FUN int16\_\-t bound (int16\_\-t {\em value}, \/  int16\_\-t {\em min}, \/  int16\_\-t {\em max})}}
\label{controller_8c_af7e9375c5fc7aff732bcf65cfd4e4a09}
\hypertarget{controller_8c_a1422cacd9ab33bf11dddbc7f087af4c3}{
\index{controller.c@{controller.c}!PI\_\-init@{PI\_\-init}}
\index{PI\_\-init@{PI\_\-init}!controller.c@{controller.c}}
\subsubsection[{PI\_\-init}]{\setlength{\rightskip}{0pt plus 5cm}void PI\_\-init (parametersPI $\ast$ {\em pi})}}
\label{controller_8c_a1422cacd9ab33bf11dddbc7f087af4c3}
\hypertarget{controller_8c_a429e7178a3042c89c17e39c542019be5}{
\index{controller.c@{controller.c}!PIController@{PIController}}
\index{PIController@{PIController}!controller.c@{controller.c}}
\subsubsection[{PIController}]{\setlength{\rightskip}{0pt plus 5cm}int PIController (parametersPI $\ast$ {\em pi}, \/  velocities $\ast$ {\em vels})}}
\label{controller_8c_a429e7178a3042c89c17e39c542019be5}
